Overview of damped least-squares methods for inverse kinematics of robot manipulators (Q1898707)

After presenting a tutorial report of the literature on the damped-least method which has been used for computing velocity inverse kinematics of robotic manipulators, the paper outlines different techniques that have been proposed for using the damped least-squares method in conjunction with redundancy resolution schemes to compute feasible joint velocities for redundant arms while performing an additional task. An iterative method to compute the optimal damping factor for one of the redundancy resolution techniques is introduced.